CN104114877A - Method for operating a vacuum generator and vacuum generator - Google Patents
Method for operating a vacuum generator and vacuum generator Download PDFInfo
- Publication number
- CN104114877A CN104114877A CN201380009115.0A CN201380009115A CN104114877A CN 104114877 A CN104114877 A CN 104114877A CN 201380009115 A CN201380009115 A CN 201380009115A CN 104114877 A CN104114877 A CN 104114877A
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- Prior art keywords
- pressure
- pressure fluid
- endurance
- fluid
- generator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/14—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid
- F04F5/16—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids
- F04F5/20—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids for evacuating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
- F04F5/48—Control
- F04F5/52—Control of evacuating pumps
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Jet Pumps And Other Pumps (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- External Artificial Organs (AREA)
- Fluid-Pressure Circuits (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The invention relates to a method for operating a vacuum generator, using a pressure fluid to generate the vacuum, the pressure fluid supply being activated at least once and then being deactivated at least once during a work cycle. In order to allow the energy efficiency to be monitored an active period is measured during which the pressure fluid supply is activated during the work cycle. The invention further relates to a vacuum generator for carrying out the method.
Description
The present invention relates to a kind ofly for moving the method for negative pressure generator, wherein said negative pressure generator produces negative pressure by pressure fluid.In addition, the invention still further relates to a kind of depression generator.
In order to move negative-pressure operation device as gripping device or clamp device, known negative pressure generator, so-called sparger for example, it operates by pressurized air and in suction joint, provides negative pressure based on compressed air delivery.In this sparger, for example, by Venturi nozzle, from pressurized air stream, produce negative pressure.In situation below, pressure that occur, under external pressure in suction joint is called to negative pressure.
For the described negative pressure generator of operation, be known that not and interruptedly do not carry out compressed air delivery, but at times by compressed air delivery deexcitation.In addition be known that the negative pressure that produces in monitoring suction joint and for regulating negative pressure generator.So the compressed air delivery for generation of negative pressure can be activated and deexcitation according to leading negative pressure in suction joint.This allows the pressurized air consumption at the reduction negative pressure generator in service by negative-pressure operation device, and its mode is that the negative pressure in aspirating joint is while reaching retention value, by compressed air delivery deexcitation.When the negative pressure in suction joint (for example, owing to leaking) is elevated to regulated value, can activate again.
In service at negative pressure generator, is desirable for the monitoring of energy consumption, because efficiency deteriorated causes undesirable cost.At this, be noted that the additional measuring device in negative pressure system can cause easily sending out fault or cause leaking.
The present invention based on task be by simple mode, to realize the reliably monitoring to efficiency in the situation that of negative pressure generator.
This task by according to claim 1 for moving the method for negative pressure generator and solving by depression generator according to claim 11.
The present invention relates to Negative pressure supply device, it is by producing pumping action with pressure fluid, and described pressure fluid is for example provided by pressurized-fluid supply device.This negative pressure generator has conventionally for delivery of the pressure channel of pressure fluid and for the suction joint of the negative pressure feeding of negative-pressure operation device.In addition, be conventionally provided with outlet, pressure fluid and the fluid aspirating by suction joint or air can be discharged by this outlet.
In order to move negative pressure generator, the implementation cycle, wherein during an operation cycle, to major general's pressure fluid, carry and activate once, allow pressure fluid to the conveying of negative pressure generator, and pressure fluid is carried and is deactivated again at least one times subsequently, is prohibited.
According to the present invention, in the operation cycle, measure and activate the endurance, on this activation endurance, pressure fluid conveying activates during operation.
Idea behind the present invention is in the operation cycle, to determine the following endurance: pressure fluid is fed to negative pressure generator for generation of swabbing effect on this endurance.On this endurance, negative pressure generator for example extracts energy from pressurized-fluid supply device, and wherein this pressurized-fluid supply device provides pressure fluid.This can realize and determining about the information in negative pressure generator energy consumption in service.As also will further set forth below, for example, can identify the deteriorated of system and/or for example from pressure data, fully determine energy consumption.Activating the endurance can be in the connection moment of pressure fluid conveying and the time lag being associated between the moment of shutoff.Yet also possible that, the activation endurance in the operation cycle is comprised of a plurality of activation endurance sections of association respectively, and the time section that described activation endurance section is had the compressed air delivery of deexcitation to each other interrupts.
The measurement of endurance is especially undertaken by time measurement device, and this time measurement device is preferably integrated in negative pressure generator itself.Yet outside supervisory device is also possible.
Owing to identifying ahead of time the deteriorated of efficiency, can be in time or prophylactically cause maintenance work or maintenance work.So, can avoid undesirable fault of causing due to low-energy-efficiency and the cost of increase.
For the definite of efficiency who activates on the endurance, allow to save additional sensor as volume flowmeter.Yet additional sensor is significant for other expansion scheme.Generally, can provide the system with low vulnerability to jamming.
The method according to this invention is for moving the negative pressure generator that transports driving by pressure fluid.Pressure fluid is carried and can be activated and deexcitation at this.In the state of activation of carrying at pressure fluid, so aspirate and produce if desired negative pressure by suction joint.At this, pressure fluid flows to negative pressure generator by pressure channel.In deactivation status, forbid flowing of pressure fluid.Yet, at this, do not get rid of, in pressure channel, continue to have the pressure fluid of static pressure.For example, negative pressure generator can have the supply valve relevant to pressure channel, makes to forbid and to allow the flow of pressurized fluid by pressure channel.
In service at negative pressure generator, the implementation cycle.In an operation cycle, pressure fluid is carried at least one and is connected and be constantly activated, and turn-offs and be constantly deactivated at least one.What the beginning of operation cycle was for example defined as that pressure fluid carries first connects constantly, carries if desired by deexcitation again at least one times, and be activated again afterwards at pressure fluid thereafter.Ending at of operation cycle is that the last shutoff of carrying by pressure fluid defines constantly.At band, be useful on negative pressure generator in service of the negative-pressure operation device (for example negative pressure gripping device, negative pressure clamp device) of operator's part, can define in the following way the operation cycle: the first connection that starts to carry by pressure fluid of operation cycle defines constantly, starts the operating process (for example capture, clamp) of workpiece from this connection constantly.This can be for example that workpiece starts to be drawn the moment to operation equipment.The last shutoff that the end of operation cycle is for example carried by pressure fluid is determined constantly, finishes the operating process of workpiece in this shutoff constantly.In the first connection, constantly and between last shutoff constantly pressure fluid can be carried and carry out at least one times deexcitation and activate again.
The operation cycle that is used for the negative pressure generator of operation system generally includes the working area in succession of setting forth below.In the first working area, activate pressure fluid and carry for generation of negative pressure, for example to start, workpiece is aspirated to negative-pressure operation device.By suction, the negative pressure in suction joint is set off down and is dropped to retention value H1 from external pressure.Retention value H1 is for example chosen as and makes to operate reliably workpiece is possible.If desired, in secondary service area, can regulate pressure fluid to transport generation negative pressure, make pressure leading in suction joint in retention value (H1) and regulate between retention value (H1+h1), as also will elaborated below (wherein h1 is corresponding to the positive bias on the retention value H1 under external pressure).Operation cycle finally also comprises another working area (the 3rd working area) conventionally, and wherein in suction joint, leading negative pressure is elevated at least again external pressure, to workpiece is got loose.In order to guarantee that workpiece is from the getting loose of negative-pressure operation device, the pressure in suction joint can also exceed external pressure and be elevated to exhaust pressure (workpiece is discharged).
Preferably, the leading supply pressure of the pressure fluid in measuring pressure passage during the operation cycle.Especially measure total pressure, it comprises static pressure and the dynamic pressure of pressure fluid.Characteristic of fluid value (Stroemungskenngroessen) by known negative pressure generator, can from measured activation endurance and measured supply pressure, determine the volume of the pressure fluid that flows to negative pressure generator and/or by pressure fluid, flow to the energy of negative pressure generator, wherein said characteristic of fluid value has reflected the fluid technique characteristic of negative pressure generator.Characteristic of fluid value for example can be recorded in characteristic curve or data field, and it has reflected supply pressure in pressure channel, activate the endurance and flow through the association between the pressure fluid volume of pressure channel.Also possible that, in flowing through the volume flowrate of pressure fluid of pressure channel and pressure channel the known correlation of leading supply pressure as basis.
According to a basic sides of the present invention, can implement a plurality of operation cycles in succession, wherein in each operation cycle or in the operation cycle of selecting during operation cycle from succession, measure and activate the endurance respectively, and corresponding data are stored in storage device.This can realize according to operation cycle in succession determine activationary time and/or the information that therefrom derives (pressure fluid consumption, energy consumption ...) development or trend.
So the development of the volume of the pressure fluid of carrying and/or the energy of conveying for example can show by display unit.Preferably, determine about carried pressure fluid volume and/or by pressure fluid, flow to the tendency information of the energy of negative pressure generator from the data of storage, it represents the development that corresponding amount is relevant to operation cycle in succession.Tendency information can for example be calculated in the control gear of negative pressure generator from stored data.Tendency information for example can comprise for the consumption increasing on the occasion of, and comprise the negative value for the consumption reducing.Tendency information can be shown and/or be transmitted by the communication interface of negative pressure generator by display unit, for example, transfer to external control device.
According to another aspect of the present invention, for endurance measuring period operation cycle, on this endurance in cycle, implemented this operation cycle.Thus, the endurance in cycle reflected for the required endurance of operation cycle.Be combined in the determined activation endurance in the operation cycle, can realize the conclusion about following situation: negative pressure generator absorbs energy in which part of the endurance of operation cycle.Do not have pressure measurement and/volume flow measurement in the situation that, also can determine thus the information about the efficiency of whole system.
Can be for computing activation time operation cycle ratio, for example, as the business who activates endurance and endurance in cycle endurance and endurance in cycle from activating.The value of reflection activationary time ratio can be associated with the corresponding operation cycle and be stored in storage device.Definite permission of activationary time ratio processing of software engineering mode easily, and can realize the different operation cycles is compared mutually.The demonstration of the information obtaining also can be simplified by formation ratio.
Preferably, implement a plurality of operation cycles in succession, and for the corresponding operation cycle by about activating the data of endurance and endurance in cycle and/or being stored in storage device about the data of activationary time ratio.From the data of such storage, can determine or calculate again for activating endurance and/or endurance in cycle and/or about the tendency information of activationary time ratio.Be used and determine that the operation cycle of information can be directly in succession.Yet, between the operation cycle for definite information, also can implement the other operation cycle.
For other expansion scheme, can during the operation cycle, also or constantly show by activating definite information of endurance.By activating definite information of endurance, for example can relate to the volume of the pressure fluid of carrying and/or the energy of conveying and/or activationary time ratio in the operation cycle.Also possible that, show the pressure fluid about carrying volume tendency information and/or about the tendency information of the energy carried and/or about the tendency information of activationary time ratio.
In principle advantageously, according to the negative pressure producing in suction joint, pressure fluid is carried and activated and deexcitation.For this reason, preferably during the operation cycle, measure leading suction side pressure in suction joint, and according to measured suction side pressure, pressure fluid is carried and activated or deexcitation.This especially carries out as making when suction side pressure is while dropping to the retention value (H1) below external pressure, or while be worth lower than this, by the pressure fluid conveying deexcitation for generation of negative pressure.When being elevated to again adjusting retention value (H1+h1) after by the deexcitation of suction side pressure (wherein h1 is corresponding to the positive bias on retention value H1), so for example again pressure fluid is carried and activated.
The task that beginning proposes also solves by a kind of depression generator, and its structure is used for implementing method described above.Depression generator has the pressure channel for delivery of pressure fluid, and has the suction joint for the negative pressure feeding of negative-pressure operation device, and has if desired outlet.In addition, control gear is arranged so that can activate with deexcitation to the pressure fluid of pressure channel and carries.In addition, depression generator comprises negative pressure generating unit, and it can be fed pressure fluid by pressure channel, and in suction joint, provides pumping action (for example Venturi nozzle) thus.
According to the present invention, time measurement device is designed to make to measure and activates the endurance, the in service of described device, at this, activates on the endurance, and pressure fluid is carried and is activated during the operation cycle.
Pressure fluid is carried and for example can be activated in the following way and deexcitation: depression generator has supply valve, by this supply valve, can forbid and allow carrying pressure fluid by pressure channel.The preferred controlled device of supply valve is controlled for activating and the conveying of deexcitation pressure fluid.Time measurement device can be integrated in control gear and build.Preferably, control gear, time measurement device and supply valve are if desired arranged in the common housing of depression generator.
Additionally, supply pressure transducer can be set, by it, can measure the supply pressure of pressure fluid leading in pressure channel.Especially depression generator itself can have supply pressure transducer.Supplying with pressure transducer for example can be integrated in the housing of depression generator.Yet also possible that, externally measured supply pressure, wherein measured value can be fed to depression generator.For this reason, it can have corresponding communication interface.
Expansion scheme for other, is provided with suction pressure sensor, by it, can measure leading suction side pressure in suction joint.Suction pressure sensor preferably with control gear acting in conjunction, make control gear activate with deexcitation pressure fluid and carry according to suction side pressure.
For by confirmable information visualization in the method according to this invention meaning, depression generator can have display unit.As set forth, confirmable information especially can for the volume of the pressure fluid carried in the operation cycle and/or the energy of carrying by pressure fluid and/or activationary time than and/or about the tendency information of energy or the activationary time ratio of carried volume or this conveying.
Other details of the present invention and favourable expansion scheme can draw from the following description, by it, further describe and be set forth in the form of implementation of the present invention shown in accompanying drawing.
Wherein:
Fig. 1 shows for implementing the skeleton diagram of the depression generator of the method according to this invention;
Fig. 2 show for illustrate according to the first method of the present invention, with the operation cycle on the schematic diagram of pressure of suction joint of time correlation;
Fig. 3 show for illustrate according to other method of the present invention, as with the operation cycle on the schematic diagram of suction joint negative pressure of function of time.
For the purpose of clearer, description below and in the accompanying drawings, is used identical reference character for feature identical or that correspond to each other.
Fig. 1 shows negative pressure generator 10, by it, can for example, for the negative-pressure operation device 12 (aspirating grabber) roughly representing, provide negative pressure feeding.In addition show pressurized-fluid supply device 14, by it, can provide pressure fluid for supplying with negative pressure generator 10.
Negative pressure generator 10 has pressure channel 16 and suction joint 18.In addition, can be provided with the fluid of outlet not shown further for drawing pressure fluid and/or being sucked.Pressure channel 16 is connected with pressurized-fluid supply device 14 pressure.On suction joint 18, be connected with negative-pressure operation device 12.
Negative pressure generator 10 comprises negative pressure generation facility (further not illustrating) in addition, and it is designed for when carrying the volume flow of pressure fluid by pressure channel 16, in suction joint 18, produces pumping action (for example Venturi nozzle).
Negative pressure generator 10 has supply valve 20, by it, can forbid and allow carrying pressure fluid by pressure channel 16, makes will to pass through suction deexcitation and the activation of suction joint 18.Thus, can the pressure fluid for generation of negative pressure be carried and be activated and deexcitation by supply valve 20.
In negative pressure generator 10, can arrange and supply with pressure transducer 22, make to measure supply pressure p V leading, pressure fluid in pressure channel 16.Yet, supply with pressure transducer 22 and also can be arranged in outside negative pressure generator 10, be for example arranged in the circuit from pressurized-fluid supply device 14 to negative pressure generator 10.In addition, be provided with suction pressure sensor 24, by it, can measure leading suction side pressure pS in suction joint 18.Suction pressure sensor 24 is not necessarily necessary, yet can realize in an advantageous manner the control to negative pressure generator 10.
Negative pressure generator 10 comprises control gear 26 in addition, can control supply valve 20 activate with deexcitation pressure fluid and carry by it.Preferably, control gear 26 is configured to and makes to control pressure fluid conveying according to the suction side pressure pS measuring by suction pressure sensor 24, as also will further set forth below.
In addition be provided with time measurement device 28, by it, can measure and wherein activate the endurance of carrying to the pressure fluid of negative pressure generator 10, on this endurance supply valve 20 in following state: in this state, allow pressure fluid to the conveying of negative pressure generator 10 to produce pumping action.Endurance hereinafter referred to as the activation endurance needs not to be coherent, but can be formed by a plurality of time sections, these time sections are interrupted by the time section of wherein pressure fluid conveying deexcitation (forbidding pressure fluid conveying by supply valve 20).
In the work of the negative pressure generator 10 with negative-pressure operation device 12, implement the operation cycle in succession.By Fig. 2 and Fig. 3, described the different operation cycles below.Shown in plotted curve in, on y coordinate, up drawn respectively leading in suction joint 18, the negative pressure below external pressure p0.Positive Y value (y coordinate) this corresponding to suction the pressure lower than external pressure p0 in joint 18, hereinafter referred to suction side pressure pS.Abscissa (X-axis) shows time course.Shown is respectively the operation cycle, it is characterized in that, suction side pressure pS from the external pressure p0 of negative-pressure operation device 12 start to reduce (occur having Y-axis on the occasion of negative pressure), and get back to again external pressure p0 after the time changes.
Fig. 2 shows the time course that aspirates side pressure pS in the operation cycle, wherein by draw workpiece on negative-pressure operation device 12, total ban the air that aspirates flowing by suction joint 18.For example in the situation that completely closely rest on the workpiece of suction on grabber, situation can be like this.
The shown operation cycle (along time axis) in its time course is divided into three working areas 30,32 and 34 in succession.In the first working area 30, in the first connection, constantly 36 activate pressure fluid conveying.In this way, started by the suction of the suction joint 18 of negative pressure generator 10.By pumping action, can reduce by suction side pressure pS that measure by suction pressure sensor 24, that aspirate in joint 18, in the view of Fig. 2, can find out the negative pressure of increase.In the moment 38, suction side pressure pS reaches retention value H1.This retention value is chosen as and makes can operate reliably workpiece by negative-pressure operation device 12.
The control gear 26 of negative pressure generator 10 is controlled supply valves 20, makes when aspirating side pressure pS and drop to retention value H1, or during lower than this retention value, pressure fluid is carried to deexcitation.So, in an example shown, so-called first, turn-off constantly and 38 pressure fluid carried to deexcitation.
Time measurement device 28 by negative pressure generator 10, can measure endurance Δ t1, on this endurance, pressure fluid is flowed to negative pressure generator, to provide pumping action and allow suction side pressure pS drop to retention value H1 from external pressure after connecting the moment 36 in the first working area 30.In control gear 26, so can represent for operation cycle storage the data of endurance Δ t1.
For Fig. 2 supposition, in Utopian situation, the suction joint 18 of negative pressure generator 10 is closely sealed by negative-pressure operation device 12 and by the workpiece of its absorption after reaching retention value H1, makes to maintain the negative pressure in suction joint 18 without further suction.In this case, therefore can, after the first shutoff 38 shutoff pressure fluids conveyings constantly, on secondary service area 32, pressure fluid be carried and keep deexcitation.Secondary service area 32 finishes in the following manner: pressure fluid is carried in the second connection and constantly 40 is activated again, and starts thus in an example shown the 3rd working area 34.The 3rd working area is for example for reducing suction negative pressure joint 18 and that provide for negative-pressure operation device 12 thus again, to for example drawn workpiece is discharged.This for example can carry out in the following way: activate pressure fluid and carry, wherein by the outlet valve not specifically illustrating, pressure channel 16 is connected with suction joint 18, make to aspirate joint 18 and ventilated.In the 3rd working area 34, suction side pressure pS rises to again external pressure p0.Also possible that, suction side pressure pS the 3rd 34 a middle or short terms of working area surpass external pressure p0, to guarantee that the workpiece that will draw by negative-pressure operation device 12 discharges.Shown in operation cycle while finishing, in the second shutoff, constantly 42 again pressure fluid is carried to deexcitation.
By the time measurement device 28 of negative pressure generator 10, in the second connection the 40 and second shutoff constantly, constantly between 42, can measure another and activate endurance section.In control gear 26, for example can store data, these data for the operation cycle corresponding to the length of the second activation endurance section Δ t2.
In a word, so can determine activation duration T
a, during the operation cycle, on this activation endurance, activating pressure fluid conveying.Whole activation duration T
acorresponding to each, activate endurance section sum, have in an example shown T
a=Δ t1+ Δ t2.
By time measurement device 28, preferably also can measure total cycle duration T
tot, it is limited in an example shown the first connection and constantly 36 and second turn-offs constantly between 42.
By activating duration T
awith cycle duration T
totcan form business, it has reflected the activationary time ratio of operation cycle.Activationary time is than being tolerance for the efficiency of operation cycle.
Also possible that, during the operation cycle in pressure channel 16 leading supply pressure p V by supplying with pressure transducer 22, measure.Activating duration T
aduring this time, pressure fluid is carried and is activated, and pressure fluid flows through pressure channel 16 from pressurized-fluid supply device 14 under the total pressure corresponding with supplying with pressure p V thus.Under the help of the characteristic of fluid value of negative pressure generator 10, therefore can be by activating duration T
awith the volume of supplying with pressure p V and calculate the pressure fluid that flows to negative pressure generator 10 in the operation cycle.Characteristic of fluid value for example can comprise the fluid resistance of the single unit system of the parts (for example supply valve 20) that negative pressure generator works together with convection cell.Eigenvalue can be stored in control gear 26.The volume of the pressure fluid of carrying in the operation cycle, so can calculate the energy that negative pressure generator 10 absorbs from Negative pressure supply device 14 in the operation cycle.
Fig. 3 shows the time changing curve that aspirates side pressure pS under the encapsulation situations completely closely that does not realize therein suction joint 18 on the operation cycle.
The shown operation cycle is divided into working area 30,32 and 34 in succession along time axis again.The first working area 30 constantly 46 starts with the first connection, first connects and activates pressure fluid constantly and carry, and therefore aspirate side pressure pS and drop to below external pressure p0 at this.Once reach retention value H1, can be used as starting point, by negative-pressure operation device 12, operate reliably workpiece.After the first working area 30, be secondary service area 32, in secondary service area, aspirate side pressure pS and regulate between retention value H1 and adjusting retention value H1+h1.At this, numerical value h1 is the positive bias on retention value H1.Regulate retention value H1+h1 preferably also can be chosen as the reliable operation that makes also to guarantee workpiece.
The first shutoff constantly 48 pressure fluid is carried to deexcitation after, the suction side pressure pS in suction joint 18 raise again (for example, due to the leakage on the negative-pressure operation device 12 of the workpiece with drawing).Once suction side pressure pS rises to and regulates retention value H1+h1 from retention value H1, in the second connection, constantly 50 again pressure fluid is carried and activated.For example, control gear 26 can be constructed as and makes to rise to while surpass regulating retention value H1+h1 from retention value H1 when aspirate side pressure pS in secondary service area 32, and supply valve 20 allows pressure fluids to carry.After the second connection 50 activation pressure fluids conveyings constantly, owing to passing through the suction of suction joint 18, suction side pressure pS declines again, and preferably in the second shutoff moment 52, when reaching retention value H1, is deactivated again.
In the pressure fluid conveying situation of deexcitation, suction side pressure pS rises again subsequently and may surpass and regulates retention value H1+h1.Due to the adjusting of negative pressure generator 10, then the 3rd, connect constantly and 54 activate again pressure fluid conveying, and aspirate therein the 3rd shutoff 46 deexcitations constantly that side pressure pS reaches again retention value H1.As set forth in conjunction with Fig. 2 above, when the operation cycle finishes, suction side pressure pS can be elevated to or surpass external pressure p0, to for example guarantee, workpiece is departed from.For this reason, since the 4th, connect constantly and 58 activate again pressure fluid conveying.Operation cycle finished pressure fluid deexcitation with the shutoff moment 60 last.
By time measurement device 28, measure again the endurance of following time section: in described time section, pressure fluid is carried and to be activated, and in the first connection, constantly 46 and first turn-offs the Δ t1 between 48 constantly, in the second connection, constantly 50 and second turn-offs the Δ t2 between 52 constantly, connects constantly the 54 and the 3rd turn-off the Δ t3 between 56 constantly and in last connection constantly 58 and for the last shutoff in the power cut-off cycle Δ t4 between 60 constantly the 3rd.Total activation endurance in the operation cycle is again as all activating endurance section sum, T
a=Δ t1+ Δ t2+ Δ t3+ Δ t4 and obtaining.
Time measurement device 28 preferably with control gear 26 actings in conjunction, make determine in the operation cycle, wherein activated the activation endurance section that pressure fluid carries after, value that will representative activation endurance section is stored in control gear 26.In addition preferably, when the operation cycle finishes, the value for activating endurance section of storage in control gear 26 is added, to obtain the total activation duration T for the operation cycle
a.
As set forth for Fig. 2, can be additionally by time measurement device duration T 28 measuring period
tot.Activate Duration Ratio T
a/ T
totreflected the tolerance for the efficiency in the operation cycle.Similarly, can and activate duration T by supply pressure p V leading in pressure channel 16
athe characteristic of fluid value forming is determined the consumption of pressure fluid and/or the energy consumption of negative pressure generator 10.
Method shown in basis while using negative pressure generator 10 with negative-pressure operation device 12, conventionally one after the other implement a plurality of operation cycles.For other expansion scheme, can be in control gear 26 respectively storage associated with the operation cycle, about the data of activation endurance or definite information thus.By analyzing activation endurance or the thus obtained information associated from the different operation cycles in succession, can derive tendency information, it for example can demonstrate negative pressure generator or the efficiency of the system that consists of negative pressure generator and negative-pressure operation device deteriorated.
Claims (14)
1. one kind for moving the method for negative pressure generator (10), wherein said negative pressure generator produces negative pressure with pressure fluid, wherein said negative pressure generator (10) has pressure channel (16) and the suction joint (18) for delivery of pressure fluid, wherein during an operation cycle, to major general's pressure fluid, carry and activate once, and carry deexcitation at least one times pressure fluid again subsequently, it is characterized in that, measure and activate endurance (T
a), during this operation cycle on this activation endurance pressure fluid carry and to activate.
2. method according to claim 1, is characterized in that, measures the leading supply pressure (pV) in described pressure channel (16) of described pressure fluid.
3. method according to claim 2, is characterized in that, by described activation endurance (T
a), by measured supply pressure (pV) and by the known characteristic of fluid value of negative pressure generator (10), determine the pressure fluid volume that flows to described negative pressure generator (10) and/or the energy that flows to negative pressure generator (10) by pressure fluid.
4. according to the method described in a upper claim, it is characterized in that, implement a plurality of operation cycles in succession, and for the corresponding operation cycle, in storage device, store about the data of carried pressure fluid volume and/or about flow to the data of the energy of described negative pressure generator (10) by pressure fluid.
5. according to the method described in a upper claim, it is characterized in that, by stored data, determine for the tendency information of carried pressure fluid volume and/or by pressure fluid, flow to the tendency information of the energy of described negative pressure generator (10).
6. according to the method one of the claims Suo Shu, it is characterized in that, for the operation cycle, measure the endurance in cycle (Ttot) of wherein implementing this operation cycle.
7. according to the method described in a upper claim, it is characterized in that, for the operation cycle by activating endurance (T
a) and the endurance in cycle (Ttot) determine activationary time ratio.
8. according to the method described in a upper claim, it is characterized in that, implement a plurality of operation cycles in succession, and for the corresponding operation cycle, in storage device, store about activating endurance (T
a) and the data of endurance in cycle (Ttot) or about the data of activationary time ratio.
9. according to the method one of the claims Suo Shu, it is characterized in that, show by described activation endurance (T
a) definite information, especially be presented at the pressure fluid volume of carrying in the operation cycle and/or the energy of carrying by pressure fluid, and/or demonstration activationary time ratio, and/or show the pressure fluid volume of carrying and/or the tendency information that flows to the energy of negative pressure generator (10) by pressure fluid, and/or show the tendency information about activationary time ratio.
10. according to the method one of the claims Suo Shu, it is characterized in that, during the operation cycle, measure leading suction side pressure (p in suction joint (18)
s), and according to described suction side pressure (p
s) pressure fluid is carried and activated and deexcitation.
11. 1 kinds for implementing according to the depression generator of the method one of claim 1 to 9 Suo Shu (10), there is pressure channel (16) and the suction joint (18) for pressure fluid, carried, control gear (26) is wherein set, make it possible to activate and the extremely pressure fluid conveying of described pressure channel (16) of deexcitation, it is characterized in that, be provided with time measurement device (28), make it possible to measure activation endurance (T
a), wherein at described device (10) in service pressure fluid on this activation endurance, carry and activate.
12. devices according to claim 11 (10), it is characterized in that, be provided with and supply with pressure transducer (22), by described supply pressure transducer, can measure the leading supply pressure (pV) in pressure channel (16) of described pressure fluid.
13. according to the device described in claim 11 or 12 (10), it is characterized in that, are provided with suction pressure sensor (24), by it, can measure leading suction side pressure (p in suction joint (18)
s).
14. according to claim 11 to the device (10) one of 13 described, it is characterized in that, is provided with display unit, can be by activating endurance (T for showing
a) definite information, in particular for the tendency information of the volume of the pressure fluid that shows the volume of the pressure fluid carry and/or the energy of carrying by pressure fluid and/or activationary time ratio and/or carry and/or by pressure fluid, flow to negative pressure generator (10) energy tendency information and/or about the tendency information of activationary time ratio.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012202124 | 2012-02-13 | ||
| DE102012202124.8 | 2012-02-13 | ||
| PCT/EP2013/052675 WO2013120801A1 (en) | 2012-02-13 | 2013-02-11 | Method for operating a vacuum generator and vacuum generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104114877A true CN104114877A (en) | 2014-10-22 |
| CN104114877B CN104114877B (en) | 2016-08-31 |
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| CN201380009115.0A Active CN104114877B (en) | 2012-02-13 | 2013-02-11 | For running method and the depression generator of negative pressure generator |
| CN201380009318.XA Active CN104114878B (en) | 2012-02-13 | 2013-02-11 | For running the method for negative-pressure operation system and for implementing the negative pressure generator of the method |
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| CN201380009318.XA Active CN104114878B (en) | 2012-02-13 | 2013-02-11 | For running the method for negative-pressure operation system and for implementing the negative pressure generator of the method |
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| US (2) | US9707686B2 (en) |
| EP (2) | EP2815131B2 (en) |
| KR (2) | KR101891863B1 (en) |
| CN (2) | CN104114877B (en) |
| WO (2) | WO2013120801A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2815131B2 (en) | 2012-02-13 | 2019-06-12 | J. Schmalz GmbH | Method for operating a suction generating device and suction generating device |
| US9669550B2 (en) * | 2014-04-18 | 2017-06-06 | Kla-Tencor Corporation | Pick and place device with automatic pick-up-height adjustment and a method and a computer program product to automatically adjust the pick-up-height of a pick and place device |
| WO2017008837A1 (en) * | 2015-07-13 | 2017-01-19 | Festo Ag & Co. Kg | Vacuum gripping apparatus and method for operating a vacuum gripping apparatus |
| EP3243608B1 (en) | 2016-05-09 | 2022-04-06 | J. Schmalz GmbH | Method for monitoring the functioning states of a pressure driven actuator and pressure driven actuator |
| US10518985B2 (en) | 2016-05-31 | 2019-12-31 | Wood's Powr-Grip Co., Inc. | Control systems and methods for vacuum lift equipment |
| EP3254998B1 (en) | 2016-06-10 | 2021-11-24 | Piab Ab | Controlling a vacuum system comprising a vacuum generator |
| CN111315546B (en) * | 2017-11-07 | 2023-04-28 | 伯克希尔格雷营业股份有限公司 | Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source |
| DE102018110741A1 (en) * | 2018-05-04 | 2019-11-07 | J. Schmalz Gmbh | Vacuum handling device |
| DE102018119934B3 (en) * | 2018-08-16 | 2019-08-01 | Strothmann Machines & Handling GmbH | Transport system for the transport of workpieces on a transport path between two production process stations as well as procedures for the operation of the transport system |
| DE102018214101B4 (en) * | 2018-08-21 | 2023-07-13 | Festo Se & Co. Kg | vacuum generator device |
| CN109335652A (en) * | 2018-10-12 | 2019-02-15 | 珠海格力智能装备有限公司 | Conveyer |
| KR102203851B1 (en) | 2018-11-12 | 2021-01-15 | 주식회사 케이티앤지 | Aerosol generating device and method of controlling same |
| DE102021129545A1 (en) | 2021-11-12 | 2023-06-07 | Gerhard Schubert Gesellschaft mit beschränkter Haftung | Test procedure for suction unit and suction unit for carrying out the procedure |
| US20240058953A1 (en) * | 2022-08-19 | 2024-02-22 | AMP Robotics Corporation | Object picking optimization |
| JP7217379B1 (en) * | 2022-08-23 | 2023-02-02 | 株式会社ユーシン精機 | Molded product take-out machine |
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- 2013-02-11 CN CN201380009115.0A patent/CN104114877B/en active Active
- 2013-02-11 KR KR1020147025414A patent/KR101891863B1/en active IP Right Grant
- 2013-02-11 EP EP13704087.9A patent/EP2815132B1/en active Active
- 2013-02-11 CN CN201380009318.XA patent/CN104114878B/en active Active
- 2013-02-11 US US14/378,500 patent/US9707686B2/en active Active
- 2013-02-11 US US14/378,464 patent/US9987757B2/en active Active
- 2013-02-11 WO PCT/EP2013/052675 patent/WO2013120801A1/en active Application Filing
- 2013-02-11 KR KR1020147025416A patent/KR101989211B1/en active IP Right Grant
- 2013-02-11 WO PCT/EP2013/052677 patent/WO2013120802A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104114877B (en) | 2016-08-31 |
| KR20140135194A (en) | 2014-11-25 |
| US20150052990A1 (en) | 2015-02-26 |
| KR101989211B1 (en) | 2019-06-13 |
| EP2815131B2 (en) | 2019-06-12 |
| US9707686B2 (en) | 2017-07-18 |
| KR20140135195A (en) | 2014-11-25 |
| CN104114878B (en) | 2016-08-24 |
| WO2013120801A1 (en) | 2013-08-22 |
| KR101891863B1 (en) | 2018-08-24 |
| EP2815131A1 (en) | 2014-12-24 |
| US9987757B2 (en) | 2018-06-05 |
| WO2013120802A1 (en) | 2013-08-22 |
| EP2815132B1 (en) | 2016-07-20 |
| EP2815131B1 (en) | 2016-07-20 |
| CN104114878A (en) | 2014-10-22 |
| US20150017025A1 (en) | 2015-01-15 |
| EP2815132A1 (en) | 2014-12-24 |
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